• Proceedings of the Korean Radioactive Waste Society Conference
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• 2005.11a
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• pp.273-274
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• 2005

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.5
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• pp.162-171
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• 1999

The most important part in automated transport systems is steering control for lane keeping Most of systems developed so far have used the visual information for steering control. In this study, the steering control algorithm based on visual servoing has been developed and tested by applying it on Radio Controlled(R/C) model car equipped with one CCD camera. We also demonstrated the feasibility of using it as a pre-test car before the real car experiment in developing automated vehicles. In order to solve the problem of the limited spave and load of a model car, remote-brained approach has been taken. For steering control of a model car, the PD controller which uses the look ahead offset to generate control input has been implemented and the characteristics of the controller has been explained in view of kinematics. Some experimental results have been also illustrated so as to show the control performance and stability.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.4
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• pp.95-102
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• 2004

It is necessary to improve the exactness and adaptation of the working environment in the intelligent robot system. The vision sensor have been studied for this reason fur a long time. However, it is very difficult to perform the camera and robot calibrations because the three dimensional reconstruction and many processes are required for the real usages. This paper suggests the image based visual servoing to solve the problem of old calibration technique and supports OLP(Off-Line-Programming) path compensation. Virtual camera can be modeled from the real factors and virtual images obtained from virtual camera gives more easy perception process. Also, Initial path generated from OLP could be compensated by the pixel level acquired from the real and virtual, respectively. Consequently, the proposed visually assisted OLP teaching remove the calibration and reconstruction process in real working space. With a virtual simulation, the better performance is observed and the robot path error is calibrated by the image differences.

• Proceedings of the Korean Society of Computer Information Conference
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• 2018.01a
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• pp.37-38
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• 2018

본 논문에서 제안하는 시각장애인용 스마트장갑은 시각장애인들이 지팡이를 사용할 때 발생하는 불필요한 접촉을 방지하고, 초음파센서를 이용해 전방의 장애물을 탐지하여 서보모터를 이용해 손등을 두드려 장애물의 유무를 알려준다. 또한 손가락에 있는 정전식 근접 터치 모듈은 손가락끼리 접촉하였을 때 블루투스로 연결된 스마트폰의 특정 어플리케이션을 실행하여 길을 잃거나 긴급 상황이 발생 했을 때 시각장애인도 불편함 없이 문자나 전화를 이용할 수 있도록 고안하였다.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2000.11a
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• pp.26-31
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• 2000

웹 환경에서 사용자는 다른 어떠한 인터페이스 환경에서보다도 더 적극적이고 자유로운 인터랙션을 하고 있으며 따라서 웹 사이트 개발에 있어서 사용자 인터페이스 환경을 고려하는 것은 매우 중요하다. 본 연구에서는 꾑 인터페이스 환경과 그 특징에 대해 살펴보고 현재 활용되고 있는 사용성 평가 기법들을 정리한 후, 이를 기반으로 웹에서의 사용자들의 다양한 반응과 양상을 효과적으로 시각화하고 분석/평가할 수 있는 도구를 개발하였다. 또한 개발된 시각화 도구를 한 인터넷 허브 사이트의 사용성 평가 과정에 적용해 보고 그 결과에 대해 논의함으로써 웹에서의 사용 감성의 시각화와 평가를 위한 실질적인 방법을 제안하고자 한다.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.6
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• pp.524-530
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• 2002

A control of the body posture and movement is maintained by the vestibular system, vision, and proprioceptors. Afferent signals from those receptors are transmitted to the vestibular nuclear complex, and the efferent signals from the vestibular nuclear complex control the eye movement and skeletal muscle contract. The postural disturbance caused by loss of the vestibular function results in nausea, vomiting, vertigo and loss of craving for life. The purpose of this study is to develop a off-vertical rotatory system for evaluating the function of semicircular canals and otolith organs, selectively, and visual stimulation system for- stimulation with horizontal, vortical and 3D patterns. The Off-vortical axis rotator is composed of a comportable chair, a DC servo-motor with reducer and a tilting table controlled by PMSM. And a double feedback loop system containing a velocity feedback loop and a position feedback loop is applied to the servo controlled rotatory chair system. Horizontal, vertical, and 3D patterns of the visual stimulation for applying head mounted display are developed. And wireless portable systems for optokinetic stimulation and recording system of the eye movement is also constructed. The gain, phase, and symmetry is obtained from analysis of the eye movement induced by vestibular and visual stimulation. Detailed data were described.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.165-166
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• 2008

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3038-3047
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• 1996

In telerobot systems, visual servoing of a task object for a slave arm with an eye-in-hand has drawn an interesting attention. As such a task ingenerally conducted in an unstructured environment, it is very difficult to define the inverse feature Jacobian matrix. To overcome this difficulty, this paper proposes an auto-tuning fuzzy rule-based visual servo algorithm. In this algorithm, a visual servo controller composed of fuzzy rules, receives feature errors as inputs and generates the change of have position as outputs. The fuzzy rules are tuned by using steepest gradient method of the cost function, which is defined as a quadratic function of feature errors. Since the fuzzy rules are tuned automatically, this method can be applied to the visual servoing of a slave arm in real time. The effctiveness of the proposed algorithm is verified through a series of simulations and experiments. The results show that through the learning procedure, the slave arm and track object in real time with reasonable accuracy.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.05a
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• pp.393-396
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• 2006

본 논문에서는 목표물 추적 및 목표물 명중을 위한 사격을 할 수 있는 자율이동로봇의 설계 및 제작에 관하여 기술한다. 여기서는 목표물의 이동을 추적할 수 있도록 팬-틸트(pan-tilt)를 제어한다. USB 웹갬(web cam)영상에서 대상체의 특징을 추출하고, 추출한 특징으로부터 시각구동장치의 이동 위치 및 방향을 결정하기 위한 퍼지논리시스템을 설계한다. 시뮬레이션을 통해 제안한 방법의 유용성을 검증하고, 이를 실제 자율이동로봇의 시각구동장치에 적용하여 타당성을 입증한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.522-525
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• 2015

In this paper, we propose a walking aid system that guides route to visually impaired people in order to recognize uncertain obstacles based on tactile stimulation. The proposed system is composed of the touch-based obstacle detection module, the obstacle height detection module, and the route guidance algorithms. The touch-based obstacle detection module detects each obstacle, which is located at left, right, and front of a visually impaired person by stimulating his thumb with the rotational force of the servomotor. The obstacle height detection module integrates detected data by the linear arrangement of ultrasonic sensors to identify the height of an obstacle about 3 of-phase(i.e., high, medium, low). The proposed route guidance algorithm guides an optimized path to the visually impaired person by updating his current position information based on the signal of the built-in GPS receiver in smartphone. In addition, the route guidance algorithm delivers information with speech to a visually impaired person through Bluetooth commuination in the developed route guidance app. The proposed system can create a path to avoid the obstacles by recognizing the placed situation of the obstacles with exploring the uncertain path.